Position and Force Control of the CAPAMAN 2 bis Parallel Robot for Drilling Tasks

被引：7

作者：

Briones, J. Antonio ^{[1
]}

Castillo, Eduardo ^{[1
]}

Carbone, Giuseppe ^{[2
]}

Ceccarelli, Marco ^{[2
]}

机构：

[1] Inst Politecn Nacl, Unidad Queretaro, CICATA, Queretaro, Mexico

[2] Univ Cassino, DiMSAT, LARM, Cassino, Italy

来源：

CERMA: 2009 ELECTRONICS ROBOTICS AND AUTOMOTIVE MECHANICS CONFERENCE | 2009年

关键词：

Parallel robot; force control; robotic drilling; MANIPULATOR;

D O I：

10.1109/CERMA.2009.40

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

A proposal for position and force control in drilling tasks is presented on this work. Force feedback is done in a simple way with a load cell. Force control algorithm is implemented in 3 degrees of freedom (DOF) parallel robot, the CAPAMAN 2 Bis, developed by the Laboratory of Robotics and Mechatronics at the University of Cassino in Italy. A graphical interface and control software were developed in LabVIEW. The results of this work shows good behavior of the system in close loop with the proposed control algorithm. During a drilling test in wood, the behavior of the hybrid system serial-parallel is acceptable when penetration rates are low.

引用

页码：181 / +

页数：2

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